Abstract
Due to the praiseworthy maneuverability and actuation flexibility, the in-wheel-motor-driven mobile robots (IWMD-MR) are widely employed in various industrial fields. However, the active estimation and rejection of unknown disturbances/uncertainties remain a tough work for formulating a stable lateral motion controller. To address the challenge, this paper proposes a robust lateral stabilization control (RLSC) scheme for the developed IWMD-MR by designing an active disturbance suppression mechanism. The distinctive features of the proposed RLSC method are threefold: (i) With a fuzzy estimator, a modified super-twisting sliding mode method is designed to eliminate the system perturbations and time-varying lumped disturbances in an active manner; (ii) The resultant system trajectory is forced into a bounded switching region within finite time, which can be maintained therein for subsequent periods; (iii) Employing the Lyapunov function, new adaption rules for multivariable gains are derived to preserve the lateral motion stability and robustness. Finally, under the direct yaw moment control framework, simulation experiments of real-life IWMD-MR are offered to verify the effectiveness of the presented RLSC method.
Highlights
Since robotic technologies continue to develop in the automotive industry, mobile robots are being increasingly employed as a practical solution for mobile processing of large complex parts or logistics transportation [1,2,3,4]
The trajectory-tracking problem considered in this work is translated into the direct yaw moment control issue of the in-wheelmotor-driven mobile robots (IWMD-MR) to stabilize the lateral motion activities relating to yaw moment and sideslip angle
(Case 1): In this case, the IWMD-MR is operated under a low ground interaction friction coefficient
Summary
Since robotic technologies continue to develop in the automotive industry, mobile robots are being increasingly employed as a practical solution for mobile processing of large complex parts or logistics transportation [1,2,3,4]. With in-wheel or hub motors, the driving and braking torques on each wheel of IWMD-MR can be regulated more precisely This actuation feature fosters lateral motion control superiority and can reach enhanced closed-loop stability and tracking control performance [22]. The SMC gains can quickly and exactly accommodate the time-varying operating conditions, the uncertainties cannot be directly reflected in the control parameters Given this context, the control gains of such a passive mechanism should be relatively high to offer enough robustness for the resulting system while ensuring the dynamic tracking performance [36]. The proposed RLSC scheme can simultaneously optimize the yaw rate and sideslip angle during the lateral motion control framework with guaranteed system robustness and dynamic tracking precision This method treats the system vibrations, dynamic perturbations and external disturbance as complex uncertainties.
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